public bool Stop_Normal()
{
if (mipcControl.AGV_Stop(move.Deceleration, move.Jerk, turn_Moving.Deceleration, turn_Moving.Jerk))
{
SimulateControl.SetVChangeSimulateData(0, move.Acceleration, move.Deceleration, move.Jerk);
return(true);
}
else
{
return(false);
}
}
private void button_Stop_Click(object sender, EventArgs e)
{
cycleRunStop = true;
double lineDec;
double lineJerk;
double thetaDec;
double thetaJerk;
if (double.TryParse(tB_LineDec.Text, out lineDec) && lineDec > 0 &&
double.TryParse(tB_LineJerk.Text, out lineJerk) && lineJerk > 0 &&
double.TryParse(tB_ThetaDec.Text, out thetaDec) && thetaDec > 0 &&
double.TryParse(tB_ThetaJerk.Text, out thetaJerk) && thetaJerk > 0)
{
;
}
else
{
lineDec = 200;
lineJerk = 400;
thetaDec = 10;
thetaJerk = 20;
}
mipcControl.AGV_Stop(lineDec, lineJerk, thetaDec, thetaJerk);
}